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<div class="title">grsd.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2014, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_GRSD_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_GRSD_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/features/grsd.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#a5fca8d8d7c522f6c07be602a04f58868">   45</a></span>&#160;<a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#a5fca8d8d7c522f6c07be602a04f58868">pcl::GRSDEstimation&lt;PointInT, PointNT, PointOutT&gt;::getSimpleType</a> (<span class="keywordtype">float</span> min_radius, <span class="keywordtype">float</span> max_radius,</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                                                                  <span class="keywordtype">double</span> min_radius_plane,</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                                                                  <span class="keywordtype">double</span> max_radius_noise,</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                                                                  <span class="keywordtype">double</span> min_radius_cylinder,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                                                                  <span class="keywordtype">double</span> max_min_radius_diff)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (min_radius &gt; min_radius_plane)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> (1); <span class="comment">// plane</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (max_radius &gt; min_radius_cylinder)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> (2); <span class="comment">// cylinder (rim)</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (min_radius &lt; max_radius_noise)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span> (0); <span class="comment">// noise/corner</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (max_radius - min_radius &lt; max_min_radius_diff)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> (3); <span class="comment">// sphere/corner</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> (4); <span class="comment">// edge</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#a577f548f45292b726d4830f8d592c5f6">   65</a></span>&#160;<a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#a577f548f45292b726d4830f8d592c5f6">pcl::GRSDEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">// Check if search_radius_ was set</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (width_ &lt; 0)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::computeFeature] A voxel cell width needs to be set!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 0;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// Create the voxel grid</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  PointCloudInPtr cloud_downsampled (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>());</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;PointInT&gt;</a> grid;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  grid.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (width_, width_, width_);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  grid.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (input_);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  grid.<a class="code" href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">setSaveLeafLayout</a> (<span class="keyword">true</span>); <span class="comment">// TODO maybe avoid this using nearest neighbor search</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  grid.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*cloud_downsampled);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="comment">// Compute RSD</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  pcl::PointCloud&lt;pcl::PrincipalRadiiRSD&gt;::Ptr radii (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PrincipalRadiiRSD&gt;</a>());</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classpcl_1_1_r_s_d_estimation.html">pcl::RSDEstimation&lt;PointInT, PointNT, pcl::PrincipalRadiiRSD&gt;</a> rsd;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  rsd.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (cloud_downsampled);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  rsd.<a class="code" href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">setSearchSurface</a> (input_);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  rsd.<a class="code" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">setInputNormals</a> (normals_);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  rsd.<a class="code" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (std::max (search_radius_, std::sqrt (3.0) * width_ / 2));</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  rsd.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*radii);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">// Save the type of each point</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">int</span> NR_CLASS = 5; <span class="comment">// TODO make this nicer</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  std::vector&lt;int&gt; types (radii-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; radii-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++idx)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    types[idx] = getSimpleType (radii-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].r_min, radii-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].r_max);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// Get the transitions between surface types between neighbors of occupied cells</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  Eigen::MatrixXi transition_matrix = Eigen::MatrixXi::Zero (NR_CLASS + 1, NR_CLASS + 1);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; cloud_downsampled-&gt;points.size (); ++idx)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">int</span> source_type = types[idx];</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    std::vector&lt;int&gt; neighbors = grid.<a class="code" href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">getNeighborCentroidIndices</a> (cloud_downsampled-&gt;points[idx], relative_coordinates_all_);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> id_n = 0; id_n &lt; neighbors.size (); id_n++)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordtype">int</span> neighbor_type;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordflow">if</span> (neighbors[id_n] == -1) <span class="comment">// empty</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        neighbor_type = NR_CLASS;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        neighbor_type = types[neighbors[id_n]];</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      transition_matrix (source_type, neighbor_type)++;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// Save feature values</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (1);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = 1;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordtype">int</span> nrf = 0;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; NR_CLASS + 1; i++)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = i; j &lt; NR_CLASS + 1; j++)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[nrf++] = transition_matrix (i, j) + transition_matrix (j, i);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_GRSDEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::GRSDEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_FEATURES_IMPL_GRSD_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_a349685ac9deb723502de9f399d0286dc"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">pcl::FeatureFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset....</div><div class="ttdef"><b>Definition:</b> feature.h:344</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a14fbb05e0e8f1d1ec766a50353f3c224"><div class="ttname"><a href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">pcl::Feature::setSearchSurface</a></div><div class="ttdeci">void setSearchSurface(const PointCloudInConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to a dataset to add additional information to estimate the features for every point...</div><div class="ttdef"><b>Definition:</b> feature.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a44829319486a2dc415a4e068dc55c577"><div class="ttname"><a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">pcl::Feature::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...</div><div class="ttdef"><b>Definition:</b> feature.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_a577f548f45292b726d4830f8d592c5f6"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#a577f548f45292b726d4830f8d592c5f6">pcl::GRSDEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by &lt;setInputClou...</div><div class="ttdef"><b>Definition:</b> grsd.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_a5fca8d8d7c522f6c07be602a04f58868"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#a5fca8d8d7c522f6c07be602a04f58868">pcl::GRSDEstimation::getSimpleType</a></div><div class="ttdeci">static int getSimpleType(float min_radius, float max_radius, double min_radius_plane=0.100, double max_radius_noise=0.015, double min_radius_cylinder=0.175, double max_min_radius_diff=0.050)</div><div class="ttdoc">Get the type of the local surface based on the min and max radius computed.</div><div class="ttdef"><b>Definition:</b> grsd.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html">pcl::RSDEstimation</a></div><div class="ttdoc">RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local ...</div><div class="ttdef"><b>Definition:</b> rsd.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a28015aa9f1c9329c66ce8a02b727a783"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">pcl::VoxelGrid::getNeighborCentroidIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; getNeighborCentroidIndices(const PointT &amp;reference_point, const Eigen::MatrixXi &amp;relative_coordinates)</div><div class="ttdoc">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinate...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aabb07bacf03039f40d256b36ee2dd495"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">pcl::VoxelGrid::setSaveLeafLayout</a></div><div class="ttdeci">void setSaveLeafLayout(bool save_leaf_layout)</div><div class="ttdoc">Set to true if leaf layout information needs to be saved for later access.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:280</div></div>
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